#[repr(C)]pub struct _mjModel {Show 325 fields
pub nq: c_int,
pub nv: c_int,
pub nu: c_int,
pub na: c_int,
pub nbody: c_int,
pub njnt: c_int,
pub ngeom: c_int,
pub nsite: c_int,
pub ncam: c_int,
pub nlight: c_int,
pub nmesh: c_int,
pub nmeshvert: c_int,
pub nmeshtexvert: c_int,
pub nmeshface: c_int,
pub nmeshgraph: c_int,
pub nskin: c_int,
pub nskinvert: c_int,
pub nskintexvert: c_int,
pub nskinface: c_int,
pub nskinbone: c_int,
pub nskinbonevert: c_int,
pub nhfield: c_int,
pub nhfielddata: c_int,
pub ntex: c_int,
pub ntexdata: c_int,
pub nmat: c_int,
pub npair: c_int,
pub nexclude: c_int,
pub neq: c_int,
pub ntendon: c_int,
pub nwrap: c_int,
pub nsensor: c_int,
pub nnumeric: c_int,
pub nnumericdata: c_int,
pub ntext: c_int,
pub ntextdata: c_int,
pub ntuple: c_int,
pub ntupledata: c_int,
pub nkey: c_int,
pub nuser_body: c_int,
pub nuser_jnt: c_int,
pub nuser_geom: c_int,
pub nuser_site: c_int,
pub nuser_cam: c_int,
pub nuser_tendon: c_int,
pub nuser_actuator: c_int,
pub nuser_sensor: c_int,
pub nnames: c_int,
pub nM: c_int,
pub nemax: c_int,
pub njmax: c_int,
pub nconmax: c_int,
pub nstack: c_int,
pub nuserdata: c_int,
pub nmocap: c_int,
pub nsensordata: c_int,
pub nbuffer: c_int,
pub opt: mjOption,
pub vis: mjVisual,
pub stat: mjStatistic,
pub buffer: *mut c_void,
pub qpos0: *mut mjtNum,
pub qpos_spring: *mut mjtNum,
pub body_parentid: *mut c_int,
pub body_rootid: *mut c_int,
pub body_weldid: *mut c_int,
pub body_mocapid: *mut c_int,
pub body_jntnum: *mut c_int,
pub body_jntadr: *mut c_int,
pub body_dofnum: *mut c_int,
pub body_dofadr: *mut c_int,
pub body_geomnum: *mut c_int,
pub body_geomadr: *mut c_int,
pub body_simple: *mut mjtByte,
pub body_sameframe: *mut mjtByte,
pub body_pos: *mut mjtNum,
pub body_quat: *mut mjtNum,
pub body_ipos: *mut mjtNum,
pub body_iquat: *mut mjtNum,
pub body_mass: *mut mjtNum,
pub body_subtreemass: *mut mjtNum,
pub body_inertia: *mut mjtNum,
pub body_invweight0: *mut mjtNum,
pub body_user: *mut mjtNum,
pub jnt_type: *mut c_int,
pub jnt_qposadr: *mut c_int,
pub jnt_dofadr: *mut c_int,
pub jnt_bodyid: *mut c_int,
pub jnt_group: *mut c_int,
pub jnt_limited: *mut mjtByte,
pub jnt_solref: *mut mjtNum,
pub jnt_solimp: *mut mjtNum,
pub jnt_pos: *mut mjtNum,
pub jnt_axis: *mut mjtNum,
pub jnt_stiffness: *mut mjtNum,
pub jnt_range: *mut mjtNum,
pub jnt_margin: *mut mjtNum,
pub jnt_user: *mut mjtNum,
pub dof_bodyid: *mut c_int,
pub dof_jntid: *mut c_int,
pub dof_parentid: *mut c_int,
pub dof_Madr: *mut c_int,
pub dof_simplenum: *mut c_int,
pub dof_solref: *mut mjtNum,
pub dof_solimp: *mut mjtNum,
pub dof_frictionloss: *mut mjtNum,
pub dof_armature: *mut mjtNum,
pub dof_damping: *mut mjtNum,
pub dof_invweight0: *mut mjtNum,
pub dof_M0: *mut mjtNum,
pub geom_type: *mut c_int,
pub geom_contype: *mut c_int,
pub geom_conaffinity: *mut c_int,
pub geom_condim: *mut c_int,
pub geom_bodyid: *mut c_int,
pub geom_dataid: *mut c_int,
pub geom_matid: *mut c_int,
pub geom_group: *mut c_int,
pub geom_priority: *mut c_int,
pub geom_sameframe: *mut mjtByte,
pub geom_solmix: *mut mjtNum,
pub geom_solref: *mut mjtNum,
pub geom_solimp: *mut mjtNum,
pub geom_size: *mut mjtNum,
pub geom_rbound: *mut mjtNum,
pub geom_pos: *mut mjtNum,
pub geom_quat: *mut mjtNum,
pub geom_friction: *mut mjtNum,
pub geom_margin: *mut mjtNum,
pub geom_gap: *mut mjtNum,
pub geom_user: *mut mjtNum,
pub geom_rgba: *mut f32,
pub site_type: *mut c_int,
pub site_bodyid: *mut c_int,
pub site_matid: *mut c_int,
pub site_group: *mut c_int,
pub site_sameframe: *mut mjtByte,
pub site_size: *mut mjtNum,
pub site_pos: *mut mjtNum,
pub site_quat: *mut mjtNum,
pub site_user: *mut mjtNum,
pub site_rgba: *mut f32,
pub cam_mode: *mut c_int,
pub cam_bodyid: *mut c_int,
pub cam_targetbodyid: *mut c_int,
pub cam_pos: *mut mjtNum,
pub cam_quat: *mut mjtNum,
pub cam_poscom0: *mut mjtNum,
pub cam_pos0: *mut mjtNum,
pub cam_mat0: *mut mjtNum,
pub cam_fovy: *mut mjtNum,
pub cam_ipd: *mut mjtNum,
pub cam_user: *mut mjtNum,
pub light_mode: *mut c_int,
pub light_bodyid: *mut c_int,
pub light_targetbodyid: *mut c_int,
pub light_directional: *mut mjtByte,
pub light_castshadow: *mut mjtByte,
pub light_active: *mut mjtByte,
pub light_pos: *mut mjtNum,
pub light_dir: *mut mjtNum,
pub light_poscom0: *mut mjtNum,
pub light_pos0: *mut mjtNum,
pub light_dir0: *mut mjtNum,
pub light_attenuation: *mut f32,
pub light_cutoff: *mut f32,
pub light_exponent: *mut f32,
pub light_ambient: *mut f32,
pub light_diffuse: *mut f32,
pub light_specular: *mut f32,
pub mesh_vertadr: *mut c_int,
pub mesh_vertnum: *mut c_int,
pub mesh_texcoordadr: *mut c_int,
pub mesh_faceadr: *mut c_int,
pub mesh_facenum: *mut c_int,
pub mesh_graphadr: *mut c_int,
pub mesh_vert: *mut f32,
pub mesh_normal: *mut f32,
pub mesh_texcoord: *mut f32,
pub mesh_face: *mut c_int,
pub mesh_graph: *mut c_int,
pub skin_matid: *mut c_int,
pub skin_rgba: *mut f32,
pub skin_inflate: *mut f32,
pub skin_vertadr: *mut c_int,
pub skin_vertnum: *mut c_int,
pub skin_texcoordadr: *mut c_int,
pub skin_faceadr: *mut c_int,
pub skin_facenum: *mut c_int,
pub skin_boneadr: *mut c_int,
pub skin_bonenum: *mut c_int,
pub skin_vert: *mut f32,
pub skin_texcoord: *mut f32,
pub skin_face: *mut c_int,
pub skin_bonevertadr: *mut c_int,
pub skin_bonevertnum: *mut c_int,
pub skin_bonebindpos: *mut f32,
pub skin_bonebindquat: *mut f32,
pub skin_bonebodyid: *mut c_int,
pub skin_bonevertid: *mut c_int,
pub skin_bonevertweight: *mut f32,
pub hfield_size: *mut mjtNum,
pub hfield_nrow: *mut c_int,
pub hfield_ncol: *mut c_int,
pub hfield_adr: *mut c_int,
pub hfield_data: *mut f32,
pub tex_type: *mut c_int,
pub tex_height: *mut c_int,
pub tex_width: *mut c_int,
pub tex_adr: *mut c_int,
pub tex_rgb: *mut mjtByte,
pub mat_texid: *mut c_int,
pub mat_texuniform: *mut mjtByte,
pub mat_texrepeat: *mut f32,
pub mat_emission: *mut f32,
pub mat_specular: *mut f32,
pub mat_shininess: *mut f32,
pub mat_reflectance: *mut f32,
pub mat_rgba: *mut f32,
pub pair_dim: *mut c_int,
pub pair_geom1: *mut c_int,
pub pair_geom2: *mut c_int,
pub pair_signature: *mut c_int,
pub pair_solref: *mut mjtNum,
pub pair_solimp: *mut mjtNum,
pub pair_margin: *mut mjtNum,
pub pair_gap: *mut mjtNum,
pub pair_friction: *mut mjtNum,
pub exclude_signature: *mut c_int,
pub eq_type: *mut c_int,
pub eq_obj1id: *mut c_int,
pub eq_obj2id: *mut c_int,
pub eq_active: *mut mjtByte,
pub eq_solref: *mut mjtNum,
pub eq_solimp: *mut mjtNum,
pub eq_data: *mut mjtNum,
pub tendon_adr: *mut c_int,
pub tendon_num: *mut c_int,
pub tendon_matid: *mut c_int,
pub tendon_group: *mut c_int,
pub tendon_limited: *mut mjtByte,
pub tendon_width: *mut mjtNum,
pub tendon_solref_lim: *mut mjtNum,
pub tendon_solimp_lim: *mut mjtNum,
pub tendon_solref_fri: *mut mjtNum,
pub tendon_solimp_fri: *mut mjtNum,
pub tendon_range: *mut mjtNum,
pub tendon_margin: *mut mjtNum,
pub tendon_stiffness: *mut mjtNum,
pub tendon_damping: *mut mjtNum,
pub tendon_frictionloss: *mut mjtNum,
pub tendon_lengthspring: *mut mjtNum,
pub tendon_length0: *mut mjtNum,
pub tendon_invweight0: *mut mjtNum,
pub tendon_user: *mut mjtNum,
pub tendon_rgba: *mut f32,
pub wrap_type: *mut c_int,
pub wrap_objid: *mut c_int,
pub wrap_prm: *mut mjtNum,
pub actuator_trntype: *mut c_int,
pub actuator_dyntype: *mut c_int,
pub actuator_gaintype: *mut c_int,
pub actuator_biastype: *mut c_int,
pub actuator_trnid: *mut c_int,
pub actuator_group: *mut c_int,
pub actuator_ctrllimited: *mut mjtByte,
pub actuator_forcelimited: *mut mjtByte,
pub actuator_dynprm: *mut mjtNum,
pub actuator_gainprm: *mut mjtNum,
pub actuator_biasprm: *mut mjtNum,
pub actuator_ctrlrange: *mut mjtNum,
pub actuator_forcerange: *mut mjtNum,
pub actuator_gear: *mut mjtNum,
pub actuator_cranklength: *mut mjtNum,
pub actuator_acc0: *mut mjtNum,
pub actuator_length0: *mut mjtNum,
pub actuator_lengthrange: *mut mjtNum,
pub actuator_user: *mut mjtNum,
pub sensor_type: *mut c_int,
pub sensor_datatype: *mut c_int,
pub sensor_needstage: *mut c_int,
pub sensor_objtype: *mut c_int,
pub sensor_objid: *mut c_int,
pub sensor_dim: *mut c_int,
pub sensor_adr: *mut c_int,
pub sensor_cutoff: *mut mjtNum,
pub sensor_noise: *mut mjtNum,
pub sensor_user: *mut mjtNum,
pub numeric_adr: *mut c_int,
pub numeric_size: *mut c_int,
pub numeric_data: *mut mjtNum,
pub text_adr: *mut c_int,
pub text_size: *mut c_int,
pub text_data: *mut c_char,
pub tuple_adr: *mut c_int,
pub tuple_size: *mut c_int,
pub tuple_objtype: *mut c_int,
pub tuple_objid: *mut c_int,
pub tuple_objprm: *mut mjtNum,
pub key_time: *mut mjtNum,
pub key_qpos: *mut mjtNum,
pub key_qvel: *mut mjtNum,
pub key_act: *mut mjtNum,
pub name_bodyadr: *mut c_int,
pub name_jntadr: *mut c_int,
pub name_geomadr: *mut c_int,
pub name_siteadr: *mut c_int,
pub name_camadr: *mut c_int,
pub name_lightadr: *mut c_int,
pub name_meshadr: *mut c_int,
pub name_skinadr: *mut c_int,
pub name_hfieldadr: *mut c_int,
pub name_texadr: *mut c_int,
pub name_matadr: *mut c_int,
pub name_pairadr: *mut c_int,
pub name_excludeadr: *mut c_int,
pub name_eqadr: *mut c_int,
pub name_tendonadr: *mut c_int,
pub name_actuatoradr: *mut c_int,
pub name_sensoradr: *mut c_int,
pub name_numericadr: *mut c_int,
pub name_textadr: *mut c_int,
pub name_tupleadr: *mut c_int,
pub name_keyadr: *mut c_int,
pub names: *mut c_char,
}Fields§
§nq: c_int§nv: c_int§nu: c_int§na: c_int§nbody: c_int§njnt: c_int§ngeom: c_int§nsite: c_int§ncam: c_int§nlight: c_int§nmesh: c_int§nmeshvert: c_int§nmeshtexvert: c_int§nmeshface: c_int§nmeshgraph: c_int§nskin: c_int§nskinvert: c_int§nskintexvert: c_int§nskinface: c_int§nskinbone: c_int§nskinbonevert: c_int§nhfield: c_int§nhfielddata: c_int§ntex: c_int§ntexdata: c_int§nmat: c_int§npair: c_int§nexclude: c_int§neq: c_int§ntendon: c_int§nwrap: c_int§nsensor: c_int§nnumeric: c_int§nnumericdata: c_int§ntext: c_int§ntextdata: c_int§ntuple: c_int§ntupledata: c_int§nkey: c_int§nuser_body: c_int§nuser_jnt: c_int§nuser_geom: c_int§nuser_site: c_int§nuser_cam: c_int§nuser_tendon: c_int§nuser_actuator: c_int§nuser_sensor: c_int§nnames: c_int§nM: c_int§nemax: c_int§njmax: c_int§nconmax: c_int§nstack: c_int§nuserdata: c_int§nmocap: c_int§nsensordata: c_int§nbuffer: c_int§opt: mjOption§vis: mjVisual§stat: mjStatistic§buffer: *mut c_void§qpos0: *mut mjtNum§qpos_spring: *mut mjtNum§body_parentid: *mut c_int§body_rootid: *mut c_int§body_weldid: *mut c_int§body_mocapid: *mut c_int§body_jntnum: *mut c_int§body_jntadr: *mut c_int§body_dofnum: *mut c_int§body_dofadr: *mut c_int§body_geomnum: *mut c_int§body_geomadr: *mut c_int§body_simple: *mut mjtByte§body_sameframe: *mut mjtByte§body_pos: *mut mjtNum§body_quat: *mut mjtNum§body_ipos: *mut mjtNum§body_iquat: *mut mjtNum§body_mass: *mut mjtNum§body_subtreemass: *mut mjtNum§body_inertia: *mut mjtNum§body_invweight0: *mut mjtNum§body_user: *mut mjtNum§jnt_type: *mut c_int§jnt_qposadr: *mut c_int§jnt_dofadr: *mut c_int§jnt_bodyid: *mut c_int§jnt_group: *mut c_int§jnt_limited: *mut mjtByte§jnt_solref: *mut mjtNum§jnt_solimp: *mut mjtNum§jnt_pos: *mut mjtNum§jnt_axis: *mut mjtNum§jnt_stiffness: *mut mjtNum§jnt_range: *mut mjtNum§jnt_margin: *mut mjtNum§jnt_user: *mut mjtNum§dof_bodyid: *mut c_int§dof_jntid: *mut c_int§dof_parentid: *mut c_int§dof_Madr: *mut c_int§dof_simplenum: *mut c_int§dof_solref: *mut mjtNum§dof_solimp: *mut mjtNum§dof_frictionloss: *mut mjtNum§dof_armature: *mut mjtNum§dof_damping: *mut mjtNum§dof_invweight0: *mut mjtNum§dof_M0: *mut mjtNum§geom_type: *mut c_int§geom_contype: *mut c_int§geom_conaffinity: *mut c_int§geom_condim: *mut c_int§geom_bodyid: *mut c_int§geom_dataid: *mut c_int§geom_matid: *mut c_int§geom_group: *mut c_int§geom_priority: *mut c_int§geom_sameframe: *mut mjtByte§geom_solmix: *mut mjtNum§geom_solref: *mut mjtNum§geom_solimp: *mut mjtNum§geom_size: *mut mjtNum§geom_rbound: *mut mjtNum§geom_pos: *mut mjtNum§geom_quat: *mut mjtNum§geom_friction: *mut mjtNum§geom_margin: *mut mjtNum§geom_gap: *mut mjtNum§geom_user: *mut mjtNum§geom_rgba: *mut f32§site_type: *mut c_int§site_bodyid: *mut c_int§site_matid: *mut c_int§site_group: *mut c_int§site_sameframe: *mut mjtByte§site_size: *mut mjtNum§site_pos: *mut mjtNum§site_quat: *mut mjtNum§site_user: *mut mjtNum§site_rgba: *mut f32§cam_mode: *mut c_int§cam_bodyid: *mut c_int§cam_targetbodyid: *mut c_int§cam_pos: *mut mjtNum§cam_quat: *mut mjtNum§cam_poscom0: *mut mjtNum§cam_pos0: *mut mjtNum§cam_mat0: *mut mjtNum§cam_fovy: *mut mjtNum§cam_ipd: *mut mjtNum§cam_user: *mut mjtNum§light_mode: *mut c_int§light_bodyid: *mut c_int§light_targetbodyid: *mut c_int§light_directional: *mut mjtByte§light_castshadow: *mut mjtByte§light_active: *mut mjtByte§light_pos: *mut mjtNum§light_dir: *mut mjtNum§light_poscom0: *mut mjtNum§light_pos0: *mut mjtNum§light_dir0: *mut mjtNum§light_attenuation: *mut f32§light_cutoff: *mut f32§light_exponent: *mut f32§light_ambient: *mut f32§light_diffuse: *mut f32§light_specular: *mut f32§mesh_vertadr: *mut c_int§mesh_vertnum: *mut c_int§mesh_texcoordadr: *mut c_int§mesh_faceadr: *mut c_int§mesh_facenum: *mut c_int§mesh_graphadr: *mut c_int§mesh_vert: *mut f32§mesh_normal: *mut f32§mesh_texcoord: *mut f32§mesh_face: *mut c_int§mesh_graph: *mut c_int§skin_matid: *mut c_int§skin_rgba: *mut f32§skin_inflate: *mut f32§skin_vertadr: *mut c_int§skin_vertnum: *mut c_int§skin_texcoordadr: *mut c_int§skin_faceadr: *mut c_int§skin_facenum: *mut c_int§skin_boneadr: *mut c_int§skin_bonenum: *mut c_int§skin_vert: *mut f32§skin_texcoord: *mut f32§skin_face: *mut c_int§skin_bonevertadr: *mut c_int§skin_bonevertnum: *mut c_int§skin_bonebindpos: *mut f32§skin_bonebindquat: *mut f32§skin_bonebodyid: *mut c_int§skin_bonevertid: *mut c_int§skin_bonevertweight: *mut f32§hfield_size: *mut mjtNum§hfield_nrow: *mut c_int§hfield_ncol: *mut c_int§hfield_adr: *mut c_int§hfield_data: *mut f32§tex_type: *mut c_int§tex_height: *mut c_int§tex_width: *mut c_int§tex_adr: *mut c_int§tex_rgb: *mut mjtByte§mat_texid: *mut c_int§mat_texuniform: *mut mjtByte§mat_texrepeat: *mut f32§mat_emission: *mut f32§mat_specular: *mut f32§mat_shininess: *mut f32§mat_reflectance: *mut f32§mat_rgba: *mut f32§pair_dim: *mut c_int§pair_geom1: *mut c_int§pair_geom2: *mut c_int§pair_signature: *mut c_int§pair_solref: *mut mjtNum§pair_solimp: *mut mjtNum§pair_margin: *mut mjtNum§pair_gap: *mut mjtNum§pair_friction: *mut mjtNum§exclude_signature: *mut c_int§eq_type: *mut c_int§eq_obj1id: *mut c_int§eq_obj2id: *mut c_int§eq_active: *mut mjtByte§eq_solref: *mut mjtNum§eq_solimp: *mut mjtNum§eq_data: *mut mjtNum§tendon_adr: *mut c_int§tendon_num: *mut c_int§tendon_matid: *mut c_int§tendon_group: *mut c_int§tendon_limited: *mut mjtByte§tendon_width: *mut mjtNum§tendon_solref_lim: *mut mjtNum§tendon_solimp_lim: *mut mjtNum§tendon_solref_fri: *mut mjtNum§tendon_solimp_fri: *mut mjtNum§tendon_range: *mut mjtNum§tendon_margin: *mut mjtNum§tendon_stiffness: *mut mjtNum§tendon_damping: *mut mjtNum§tendon_frictionloss: *mut mjtNum§tendon_lengthspring: *mut mjtNum§tendon_length0: *mut mjtNum§tendon_invweight0: *mut mjtNum§tendon_user: *mut mjtNum§tendon_rgba: *mut f32§wrap_type: *mut c_int§wrap_objid: *mut c_int§wrap_prm: *mut mjtNum§actuator_trntype: *mut c_int§actuator_dyntype: *mut c_int§actuator_gaintype: *mut c_int§actuator_biastype: *mut c_int§actuator_trnid: *mut c_int§actuator_group: *mut c_int§actuator_ctrllimited: *mut mjtByte§actuator_forcelimited: *mut mjtByte§actuator_dynprm: *mut mjtNum§actuator_gainprm: *mut mjtNum§actuator_biasprm: *mut mjtNum§actuator_ctrlrange: *mut mjtNum§actuator_forcerange: *mut mjtNum§actuator_gear: *mut mjtNum§actuator_cranklength: *mut mjtNum§actuator_acc0: *mut mjtNum§actuator_length0: *mut mjtNum§actuator_lengthrange: *mut mjtNum§actuator_user: *mut mjtNum§sensor_type: *mut c_int§sensor_datatype: *mut c_int§sensor_needstage: *mut c_int§sensor_objtype: *mut c_int§sensor_objid: *mut c_int§sensor_dim: *mut c_int§sensor_adr: *mut c_int§sensor_cutoff: *mut mjtNum§sensor_noise: *mut mjtNum§sensor_user: *mut mjtNum§numeric_adr: *mut c_int§numeric_size: *mut c_int§numeric_data: *mut mjtNum§text_adr: *mut c_int§text_size: *mut c_int§text_data: *mut c_char§tuple_adr: *mut c_int§tuple_size: *mut c_int§tuple_objtype: *mut c_int§tuple_objid: *mut c_int§tuple_objprm: *mut mjtNum§key_time: *mut mjtNum§key_qpos: *mut mjtNum§key_qvel: *mut mjtNum§key_act: *mut mjtNum§name_bodyadr: *mut c_int§name_jntadr: *mut c_int§name_geomadr: *mut c_int§name_siteadr: *mut c_int§name_camadr: *mut c_int§name_lightadr: *mut c_int§name_meshadr: *mut c_int§name_skinadr: *mut c_int§name_hfieldadr: *mut c_int§name_texadr: *mut c_int§name_matadr: *mut c_int§name_pairadr: *mut c_int§name_excludeadr: *mut c_int§name_eqadr: *mut c_int§name_tendonadr: *mut c_int§name_actuatoradr: *mut c_int§name_sensoradr: *mut c_int§name_numericadr: *mut c_int§name_textadr: *mut c_int§name_tupleadr: *mut c_int§name_keyadr: *mut c_int§names: *mut c_charTrait Implementations§
impl Copy for _mjModel
Auto Trait Implementations§
impl Freeze for _mjModel
impl RefUnwindSafe for _mjModel
impl !Send for _mjModel
impl !Sync for _mjModel
impl Unpin for _mjModel
impl UnwindSafe for _mjModel
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
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